Robotic surgical pedal with integrated foot sensor

ABSTRACT

A foot pedal assembly for controlling a robotic surgical system. The foot pedal assembly including a foot pedal base, a foot pedal and a sensor. The foot pedal moves relative to the foot pedal base and has a contact surface extending from a distal end to a proximal end of the foot pedal. The contact surface is to come into contact with a foot of a user during use of the foot pedal assembly for controlling the robotic surgical system and the distal end is farther away from a heel of the foot than the proximal end during use of the assembly for controlling the robotic surgical system. The sensor is coupled to the contact surface of the foot pedal at a position closer to the proximal end than the distal end, and the sensor is operable to sense a target object positioned a distance over the contact surface.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.16/038,128, filed on Jul. 17, 2018, which is hereby incorporated by thisreference in its entirety.

FIELD

An embodiment of the invention relates to a robotic surgical pedal withintegrated foot sensor for sensing a presence and/or location of auser's foot. Other embodiments are also described.

BACKGROUND

In a robotic surgical system, a robotic arm has a surgical tool attachedto its distal end that is remotely operated by a surgeon. Applicationsinclude endoscopic surgery, which involves looking into a patient's bodyand performing surgery inside, for example the abdominal cavity, usingendoscopes and other surgical tools that are attached to the ends ofseveral robotic arms. The system gives the surgeon a close-up view ofthe surgery site, and also lets the surgeon operate the tool that isattached to the arm, all in real-time. The tool may be a gripper withjaws, a cutter, a video camera, or an energy emitter such as a laserused for coagulation. The tool is thus controlled in a precise mannerwith high dexterity in accordance with the surgeon manipulating ahandheld controller. Some functions of the system such as control of theenergy emitter may be assigned to a foot pedal controller that thesurgeon manipulates with their foot.

SUMMARY

An embodiment of the invention is directed to a foot pedal assembly (orsystem) for controlling a robotic surgical system, with integrated footpresence sensing. The foot pedal assembly may include a foot pedal witha foot presence sensor (or multiple sensors) built into the coverportion of the pedal. More specifically, in one embodiment, a sensorsuch as a proximity sensor may be built directly into the pedal. Theproximity sensor may be used to detect the presence of a user's footprior to the foot contacting a particular pedal (e.g., hovering). Inthis aspect, the system can notify the user their foot is over a pedal,about to press a given pedal, moving toward a pedal, or provide othersimilar information relating to the user's foot position with respect tothe pedal individually. In addition, in some cases, the foot pedalassembly includes a number of foot pedals having sensors incorporatedtherein, so that the presence of a foot with respect to each of thepedals individually can be determined. This information can be used bythe user and/or system to, for example, prevent unintentional pedalactivation, anticipate a surgical operation and prepare thecorresponding instrument, and/or determine a motion or speed of thefoot. For example, when one pedal is active and the foot is detectedover another pedal, the user can be notified and/or the other pedaldeactivated to prevent unintentional activation. The hardware thereforeallows for higher precision in notifying the user of the location ofher/his foot prior to activation of any particular pedal. Morespecifically, the system achieves presence sensing of a foot over anygiven pedal individually so that a user can be alerted.

Representatively, in one embodiment, the invention may include anassembly of pedals and associated software for running algorithms,processing operations, processes, or the like, to optimize performanceand user experience in applying the pedals with integrated presence (orhover) sensing. For example, in one aspect, the assembly may include alayout, arrangement or array of seven pedals. There may be three pedalsarranged on the left half of the layout and four pedals arranged on theright half of the layout, at known positions. One or more of the fourpedals arranged together on the right half may be used to activateenergy or advanced tool functionality (e.g., laser, stapler, etc.),while the pedals on the left half may be used to operate cameras and/orswitch instruments. Since notifications with respect to energy pedalsmay be important, each of the four pedals on the right half layout mayhave sensors built therein, although sensors may be built into all sevenpedals, or any combination of pedals where presence sensing is desired.

The integration of the sensors into the pedals as discussed herein mayhave several additional applications. For example, pedal prioritizationcan be implemented based on the information obtained by the sensors. Forexample, when a user places their foot on an upper pedal, both the upperpedal and lower pedal sensors may be triggered (the user's foot overlapsboth pedals). The system, however, can prioritize which pedal the systemshould alert the user about based on the function of the particularpedal. For example, the system knows that upper pedals map to energyfunctions, which if activated unintentionally, may be more undesirablethan an inadvertent activation of any of the lower pedals. In thisscenario, although hover is detected over both pedals, the system alertsthe user of the hover over the upper pedal, since unintentionalactivation of this pedal will result in more harm.

In addition, by having two sensors placed a known distance apart, thesystem can detect foot motion and speed when, for example, two or moresensors are detected in sequence. For example, it can be determined thatthe user's foot is moving from the floor (no sensors triggered), towarda first pedal (first pedal sensor triggered), and then on to a secondpedal (second pedal sensor triggered). This motion (and speed) knowledgecan assist in providing the user with critical information about resultsof any action they're about to take and also assist in optimizingoperations.

Still further, in one aspect, integrating sensors into the pedals on theleft and/or right side layout may assist with training surgeons new tothe system how to use the system, or to optimize performance on thesystem. Representatively, it is known that there is a correlationbetween procedure time and number of camera clutches. Therefore, if thesystem can inform a user that their feet are unnecessarily resting onthe camera clutch pedal, this procedure variable can be optimized. Inaddition, when sensors are built into all seven pedals, the system maybe configured to toggle on/off the left pedal sensors, or alter the sizeor frequency of the hover-related notifications.

More specifically, in one embodiment, the invention is directed to afoot pedal assembly for controlling a robotic surgical system. The footpedal assembly including a foot pedal base, a foot pedal and a sensorbuilt into the foot pedal. The foot pedal may be movably coupled to thefoot pedal base, such that it moves with respect to the base, and have acontact surface extending from a distal end to a proximal end of thefoot pedal. The sensor coupled to the contact surface of the foot pedalat a position closer to the proximal end than the distal end, the sensoris operable to sense a target object positioned a distance over thecontact surface. In some cases, the foot pedal may pivot around an axlecoupled to the foot pedal base. The axle may be positioned closer to thedistal end than the proximal end, and the sensor may be closer to theproximal end than the axle. Still further, the sensor may be coupled tothe contact surface at a position that is between the distal end and apoint midway between the distal end and the proximal end. In addition, acavity may be formed through the contact surface, and the sensor may bemounted within the cavity. In some embodiments, the sensor may be anoptical sensor having an emitter and a detector, and the emitter emits abeam of electromagnetic radiation in a direction away from the contactsurface. In other cases, the sensor may be a capacitive sensor. Stillfurther, the sensor may be one of an array of sensors coupled to thecontact surface of the foot pedal. In addition, the foot pedal assemblymay be one of an array of foot pedal assemblies operable to controldifferent surgical robotic operations. In addition, the assembly mayinclude a foot pedal assembly platform having an upper platform and alower platform to which the array of foot pedal assemblies are mounted.In some cases, a larger number of the foot pedal assemblies in the arrayof foot pedal assemblies are mounted to the upper platform than thelower platform of the foot pedal assembly platform.

In another embodiment, the invention is directed to a foot pedal systemincluding a foot pedal assembly platform, a first foot pedal assemblyand a second foot pedal assembly coupled to the foot pedal assemblyplatform, and a processor. Each of the first foot pedal assembly and thesecond foot pedal assembly may have a foot pedal movably coupled to afoot pedal base and an optical sensor coupled to a contact surface ofthe foot pedal that faces away from the foot pedal base. The opticalsensor may be operable to emit a light beam in a direction away from thecontact surface and detect a presence of a target object prior toactivation of the first foot pedal assembly or the second foot pedalassembly by the target object. The processor may be configured todetermine a position of the target object with respect to the first footpedal assembly or the second foot pedal assembly based on the presencedetected by the optical sensor coupled to the first foot pedal assemblyor the second foot pedal assembly. In some embodiments, the opticalsensor may be positioned closer to a proximal end of the contact surfacethan a distal end of the contact surface. In addition, the processor mayfurther be configured to determine whether the target object ispositioned closer to the proximal end of the contact surface than thedistal end of the contact surface based on the presence detected by theoptical sensor. The optical sensor may be one of an array of opticalsensors coupled to different regions of the contact surface of arespective foot pedal, and the processor may further be configured todetermine the target object is aligned with one of the differentregions. The processor may also be configured to determine the targetobject is over the contact surface of the first foot pedal assemblyprior to the target object contacting the contact surface of the firstfoot pedal assembly based on the presence of the target object beingdetected by the optical sensor of the first foot pedal assembly. In somecases, the processor may be configured to determine the position of thetarget object with respect to the first foot pedal assembly based on thepresence of the target object being detected by the optical sensor ofthe second foot pedal assembly. The processor may further be configuredto determine a lateral motion of the target object when the presence ofthe target object is detected by the optical sensors in sequence. Stillfurther, the processor is further configured to alert a user that thepresence of the target object is detected over one of the first footpedal assembly or the second foot pedal assembly when the other of thefirst foot pedal assembly or the second foot pedal assembly is activelycontrolling a robotic operation. In addition, the processor may beconfigured to prevent activation of the first foot pedal assembly whenthe presence of the target object is detected over the first foot pedalassembly while the second foot pedal assembly is actively controlling arobotic operation. In some cases, the first foot pedal assembly isoperable to control a first surgical robotic operation and the secondfoot pedal assembly is operable to control a second surgical roboticoperation that is different than the first surgical robotic operation.The first surgical robotic operation may include an energy device andthe second surgical robotic operation my include a non-energyinstrument. In addition, the foot pedal assembly platform may include anupper platform and a lower platform, and the first foot pedal assemblyis coupled to the upper platform and the second foot pedal assembly iscoupled to the lower platform.

The above summary does not include an exhaustive list of all aspects ofthe present invention. It is contemplated that the invention includesall systems and methods that can be practiced from all suitablecombinations of the various aspects summarized above, as well as thosedisclosed in the Detailed Description below and particularly pointed outin the claims filed with the application. Such combinations haveparticular advantages not specifically recited in the above summary.

BRIEF DESCRIPTION OF THE DRAWINGS

The embodiments of the invention are illustrated by way of example andnot by way of limitation in the figures of the accompanying drawings inwhich like references indicate similar elements. It should be noted thatreferences to “an” or “one” embodiment of the invention in thisdisclosure are not necessarily to the same embodiment, and they mean atleast one. Also, in the interest of conciseness and reducing the totalnumber of figures, a given figure may be used to illustrate the featuresof more than one embodiment of the invention, and not all elements inthe figure may be required for a given embodiment.

FIG. 1 is a pictorial view of one embodiment of a surgical system in anoperating arena.

FIG. 2 is a side view of an embodiment of a foot pedal assembly.

FIG. 3 is a side view of the foot pedal assembly of FIG. 2 .

FIG. 4 is a top perspective view of an embodiment of a foot pedal.

FIG. 5 is a bottom perspective view of an embodiment of the foot pedalof FIG. 4 .

FIG. 6 is a top perspective view of an embodiment of the foot pedal ofFIG. 4 with a sensor built therein.

FIG. 7 is a bottom perspective view of an embodiment of the foot pedalof FIG. 4 with a sensor built therein.

FIG. 8 is a top plan view of one embodiment of a foot pedal.

FIG. 9 is a top plan view of another embodiment of a foot pedal.

FIG. 10 is a top plan view of another embodiment of a foot pedal.

FIG. 11 is a flow chart of one embodiment of a process for determining aposition of a target object.

FIG. 12 is a top perspective view of one embodiment of a foot pedalassembly array.

FIG. 13 is a schematic illustration of the foot pedal assembly array ofFIG. 12 .

FIG. 14 is a flow chart of one embodiment of a process for alerting auser of the presence of a target object.

DETAILED DESCRIPTION

Several embodiments of the invention with reference to the appendeddrawings are now explained. Whenever the shapes, relative positions andother aspects of the parts described in the embodiments are notexplicitly defined, the scope of the invention is not limited only tothe parts shown, which are meant merely for the purpose of illustration.Also, while numerous details are set forth, it is understood that someembodiments of the invention may be practiced without these details. Inother instances, well-known circuits, structures, and techniques havenot been shown in detail so as not to obscure the understanding of thisdescription.

The terminology used herein is for the purpose of describing particularembodiments only and is not intended to be limiting of the invention.Spatially relative terms, such as “beneath”, “below”, “lower”, “above”,“upper”, and the like may be used herein for ease of description todescribe one element's or feature's relationship to another element(s)or feature(s) as illustrated in the figures. It will be understood thatthe spatially relative terms are intended to encompass differentorientations of the device in use or operation in addition to theorientation depicted in the figures. For example, if the device in thefigures is turned over, elements described as “below” or “beneath” otherelements or features would then be oriented “above” the other elementsor features. Thus, the exemplary term “below” can encompass both anorientation of above and below. The device may be otherwise oriented(e.g., rotated 90 degrees or at other orientations) and the spatiallyrelative descriptors used herein interpreted accordingly.

As used herein, the singular forms “a”, “an”, and “the” are intended toinclude the plural forms as well, unless the context indicatesotherwise. It will be further understood that the terms “comprises”and/or “comprising” specify the presence of stated features, steps,operations, elements, and/or components, but do not preclude thepresence or addition of one or more other features, steps, operations,elements, components, and/or groups thereof.

The terms “or” and “and/or” as used herein are to be interpreted asinclusive or meaning any one or any combination. Therefore, “A, B or C”or “A, B and/or C” mean “any of the following: A; B; C; A and B; A andC; B and C; A, B and C.” An exception to this definition will occur onlywhen a combination of elements, functions, steps or acts are in some wayinherently mutually exclusive.

In addition, the phrase “configured to,” as used herein, may beinterchangeable with, or otherwise understood as referring to, forexample, a device that is “suitable for”, “having the capacity to”,“designed to”, “adapted to”, “made to”, or otherwise “capable of”operating together with another device or other components. For example,a “processor configured to perform A, B, and C” may refer to a processor(e.g., a central processing unit (CPU) or an application processor) thatmay perform operations A, B and C by executing one or more softwareprograms which stores a dedicated processor (e.g., an embeddedprocessor) for performing a corresponding operation.

Referring to FIG. 1 , FIG. 1 illustrates a pictorial view of an examplesurgical system 100 in an operating arena. The robotic surgical system100 includes a user console 102, a control tower 103, and one or morerobotic surgical arms 104 at a surgical platform 105, e.g., a table, abed, etc. The robotic surgical system 100 can incorporate any number ofdevices, tools, or accessories used to perform surgery on a patient 106.For example, the robotic surgical system 100 may include one or moresurgical tools 7 used to perform surgery. A surgical tool 107 may be anend effector that is attached to a distal end of a surgical arm 104, forexecuting a surgical procedure.

Each surgical tool 107 may be manipulated manually, robotically, orboth, during the surgery. For example, the surgical tool 107 may be atool used to enter, view, or manipulate an internal anatomy of thepatient 106. In an embodiment, the surgical tool 107 is a grasper thatcan grasp tissue of the patient. The surgical tool 107 may be controlledmanually, by a bedside operator 108; or it may be controlledrobotically, via actuated movement of the robotic surgical arm 104 towhich it is attached. The robotic surgical arms 104 are shown as atable-mounted system, but in other configurations the surgical arms 104may be mounted in a cart, ceiling or sidewall, or in another suitablestructural support.

Generally, a remote operator 109, such as a surgeon or other operator,may use the user console 102 to remotely manipulate the surgical arms104 and/or the attached surgical tools 107, e.g., teleoperation. Theuser console 102 may be located in the same operating room as the restof the robotic surgical system 100, as shown in FIG. 1 . In otherenvironments however, the user console 102 may be located in an adjacentor nearby room, or it may be at a remote location, e.g., in a differentbuilding, city, or country. The user console 102 may comprise a seat110, foot-operated controls 113, one or more handheld user interfacedevices, UID 114, and at least one user display 115 that is configuredto display, for example, a view of the surgical site inside the patient106. In the example user console 102, the remote operator 109 is sittingin the seat 110 and viewing the user display 115 while manipulating afoot-operated control 113 and a handheld UID 114 in order to remotelycontrol the surgical arms 104 and the surgical tools 107 (that aremounted on the distal ends of the surgical arms.)

In some variations, the bedside operator 108 may also operate therobotic surgical system 100 in an “over the bed” mode, in which thebeside operator 108 (user) is now at a side of the patient 106 and issimultaneously manipulating a robotically-driven tool (end effector asattached to the surgical arm 104), e.g., with a handheld UID 114 held inone hand, and a manual laparoscopic tool. For example, the bedsideoperator's left hand may be manipulating the handheld UID to control arobotic surgical component, while the bedside operator's right hand maybe manipulating a manual laparoscopic tool. Thus, in these variations,the bedside operator 108 may perform both robotic-assisted minimallyinvasive surgery and manual laparoscopic surgery on the patient 106.

During an example procedure (surgery), the patient 106 is prepped anddraped in a sterile fashion to achieve anesthesia. Initial access to thesurgical site may be performed manually while the arms of the roboticsurgical system 100 are in a stowed configuration or withdrawnconfiguration (to facilitate access to the surgical site.) Once accessis completed, initial positioning or preparation of the robotic surgicalsystem 100 including its arms 104 may be performed. Next, the surgeryproceeds with the remote operator 109 at the user console 102 utilizingthe foot-operated controls 113 and the UIDs 114 to manipulate thevarious end effectors and perhaps an imaging system to perform thesurgery. Manual assistance may also be provided at the procedure bed ortable, by sterile-gowned bedside personnel, e.g., the bedside operator108 who may perform tasks such as retracting tissues, performing manualrepositioning, and tool exchange upon one or more of the surgical arms104. Non-sterile personnel may also be present to assist the remoteoperator 109 at the user console 102. When the procedure or surgery iscompleted, the robotic surgical system 100 and the user console 102 maybe configured or set in a state to facilitate post-operative proceduressuch as cleaning or sterilization and healthcare record entry orprintout via the user console 102.

In one embodiment, the remote operator 109 holds and moves the UID 114to provide an input command to move a robot arm actuator 117 in therobotic surgical system 100. The UID 114 may be communicatively coupledto the rest of the robotic surgical system 100, e.g., via a consolecomputer system 116. The UID 114 can generate spatial state signalscorresponding to movement of the UID 114, e.g. position and orientationof the handheld housing of the UID, and the spatial state signals may beinput signals to control a motion of the robot arm actuator 117. Therobotic surgical system 100 may use control signals derived from thespatial state signals, to control proportional motion of the actuator117. In one embodiment, a console processor of the console computersystem 116 receives the spatial state signals and generates thecorresponding control signals. Based on these control signals, whichcontrol how the actuator 117 is energized to move a segment of the arm104, the movement of a corresponding surgical tool that is attached tothe arm may mimic the movement of the UID 114. Similarly, interactionbetween the remote operator 109 and the UID 114 can generate for examplea grip control signal that causes a jaw of a grasper of the surgicaltool 107 to close and grip the tissue of patient 106.

Robotic surgical system 100 may include several UIDs 114, whererespective control signals are generated for each UID that control theactuators and the surgical tool (end effector) of a respective arm 104.For example, the remote operator 109 may move a first UID 114 to controlthe motion of an actuator 117 that is in a left robotic arm, where theactuator responds by moving linkages, gears, etc., in that arm 104.Similarly, movement of a second UID 114 by the remote operator 109controls the motion of another actuator 117, which in turn moves otherlinkages, gears, etc., of the robotic surgical system 100. The roboticsurgical system 100 may include a right surgical arm 104 that is securedto the bed or table to the right side of the patient, and a leftsurgical arm 104 that is at the left side of the patient. An actuator117 may include one or more motors that are controlled so that theydrive the rotation of a joint of the surgical arm 104, to for examplechange, relative to the patient, an orientation of an endoscope or agrasper of the surgical tool 107 that is attached to that arm. Motion ofseveral actuators 117 in the same arm 104 can be controlled by thespatial state signals generated from a particular UID 114. The UIDs 114can also control motion of respective surgical tool graspers. Forexample, each UID 114 can generate a respective grip signal to controlmotion of an actuator, e.g., a linear actuator, that opens or closesjaws of the grasper at a distal end of surgical tool 107 to grip tissuewithin patient 106.

In some aspects, the communication between the surgical platform 105 andthe user console 102 may be through a control tower 103, which maytranslate user commands that are received from the user console 102 (andmore particularly from the console computer system 116) into roboticcontrol commands that transmitted to the arms 104 on the surgicalplatform 105. The control tower 103 may also transmit status andfeedback from the surgical platform 105 back to the user console 102.The communication connections between the surgical platform 105, theuser console 102, and the control tower 103 may be via wired and/orwireless links, using any suitable ones of a variety of datacommunication protocols. Any wired connections may be optionally builtinto the floor and/or walls or ceiling of the operating room. Therobotic surgical system 100 may provide video output to one or moredisplays, including displays within the operating room as well as remotedisplays that are accessible via the Internet or other networks. Thevideo output or feed may also be encrypted to ensure privacy and all orportions of the video output may be saved to a server or electronichealthcare record system.

A foot-operated control including a foot pedal assembly or system havingan integrated sensor for sensing the presence and/or location of auser's foot on the foot-operated control will now be described.Referring now to FIG. 2 , FIG. 2 illustrates a side view of one exampleof a foot pedal assembly 200 that can be used to control, or otherwiseactuate, a robotic operation of the robotic surgical system 100 (e.g.,an operation of the robotic surgical arm 104). Foot pedal assembly 200may include a foot pedal 202 that is movably coupled to a foot pedalbase 204. The term “foot pedal” is generally intended to refer to anytype of foot-operated lever that can be used to control the roboticoperation. The foot pedal base 204 may be any type of structure suitablefor supporting the pedal. In addition, it should be understood thatwhile a “foot pedal” and “foot pedal base” are described and shownherein in the context of a foot, the pedal and base should be understoodto cover any sort of lever and support member assembly that can be usedin a similar manner by any body part, machine, robotic assembly, or thelike to actuate or otherwise control a surgical robotic operation (orother operations requiring a pedal and base assembly).

In some cases, the foot pedal 202 may be rotatably coupled to the footpedal base 204, while in other cases, the foot pedal 202 may be, forexample, a floating pedal that remains relatively parallel to the base204, and moves up and down. FIG. 2 illustrates an embodiment where thefoot pedal 202 is rotatably coupled to the foot pedal base 204.Representatively, foot pedal 202 and/or foot pedal base 204 include anaxle 206 around which foot pedal 202 rotates or pivots as shown by arrow208. Rotation of foot pedal 202 around axle 206 moves foot pedal 202from a “neutral” position in which it is substantially horizontal, orotherwise parallel to foot pedal base 204, to different “active”positions 202A, 202B in which it is at an angle with respect to footpedal base 204 (as illustrated by dashed lines). The foot pedal 202 maybe considered to be in a “neutral” position when it is not causing,actuating, or otherwise controlling, a robotic operation (e.g. anoperation of the robotic surgical arm 104). On the other hand, positions202A, 202B of foot pedal 202 are considered “active” because in thesepositions, foot pedal 202 is causing, actuating, or otherwisecontrolling, a robotic operation (e.g., an operation of the roboticsurgical arm 104). For example, in positions 202A, 202B, foot pedal 202may contact one or more of switches 210A and 210B, which, in turn, senda signal to a control system (e.g., a console processor of the consolecomputer system 116) to actuate, or otherwise control, the roboticoperation. In this aspect, foot pedal 202 may be referred to herein asbeing “active”, “activated” or “actuated” when in positions 202A, 202B(e.g., a position achieved when a user's foot presses on the pedal), and“neutral” or “inactive” when in the horizontal position (e.g., theresting position prior to the user's foot contacting the pedal).

Referring now in more detail to foot pedal 202, foot pedal 202 mayinclude a proximal portion or end 212 and a distal portion or end 214,and a contact surface 216 extending between the two portions or ends212, 214. During operation, the proximal portion 212 will be near theheel of the foot, and the distal portion 214 will be farther from theheel (e.g., closer to the toe). The contact surface 216 may be asubstantially flat or planar surface that, in the neutral pedalposition, may be substantially parallel to, and face away from, baseportion 204. On the other hand, in the active pedal position (e.g., whena user's foot contacts surface 216), contact surface 216 may be rotatedsuch that it is at an angle with respect to base portion 204. Contactsurface 216 may be referred to as a “contact” surface herein becausethis is the portion of foot pedal 202 which is contacted by the user'sfoot to activate the pedal assembly such as by rotating, or otherwisemoving, foot pedal 202. For example, foot pedal 202 may be manuallymoved (e.g., rotate, pivot, move up/down) with respect to foot pedalbase 204 when a force or pressure is applied against surface 216.Therefore in this configuration, when a user's foot is positioned onsurface 216 (e.g. to cause the pedal to rotate), the toes of the user'sfoot may be near distal end 214 (and used to rotate the distal end 214toward switch 210B) and the heel may be positioned near proximal end 212(and used to rotate the proximal end 212 toward switch 210A). Inaddition, it is noted that, in this embodiment, axle 206 is shownpositioned closer to the distal end 214 than the proximal end 212 offoot pedal 202. In other embodiments, however, axle 206 may be locatedcloser to the foot pedal mid point 218 than the distal end 214, closerto the mid point 218 than the proximal end 212 or closer to the proximalend 212 than the distal end 214, or anywhere between the proximal anddistal ends 212, 214, respectively.

Foot pedal assembly 200 may further include a sensor 220. As previouslydiscussed, foot pedal assembly 200 is used to control, or otherwise helpto control, an operation of a surgical tool 107 (e.g., robotic arm 104)on a patient 106. In this aspect, it is particularly important that thepedal assembly not be accidentally, or otherwise inadvertently,activated (e.g. rotated or pressed) during, for example, anothersurgical operation being performed by the user (e.g., using anotherpedal assembly). In addition, in cases where multiple foot pedalassemblies are present, it is further important that a user be aware ofwhich pedal they are about to press before activation of the pedal.Sensor 220 is therefore provided to detect a presence of the user's foot(also referred to herein as a target object), prior to the footcontacting surface 216 and activating assembly 200. In other words, todetect the user's foot hovering a distance over surface 216, but not yetcontacting surface 216. In this aspect, it is particularly importantthat sensor 220 be mounted at a specific, and known, location on footpedal 202 so that the foot presence can be immediately detected (e.g.,before the foot is entirely over the pedal). In this aspect, sensor 220may, in one embodiment, be mounted, attached, connected, or otherwisebuilt into, an end of foot pedal 202. Representatively, when the pedalis oriented so that the user's foot slides on foot pedal 202 in adirection from left to right (as illustrated by arrow 222), sensor 220may be positioned closer to proximal end 212 than distal end 214. Forexample, in some embodiments, sensor 220 may be positioned anywherebetween proximal end 212 and mid point 218 of surface 216. Said anotherway, the distance (D₁) between sensor 220 and proximal end 212 is lessthan the distance (D₂) between sensor 220 and distal end 214. Stillfurther, the position of sensor 220 may be defined with respect to axle206. For example, where axle 206 is positioned closer to distal end 214than proximal end 212 as shown, sensor 220 may be positioned closer tothe proximal end 212 than axle 206.

Referring now to sensor 220 in more detail, sensor may be any type ofsensor suitable for detecting the presence of the user's foot 304 (orany target object) when the foot is spaced a distance (d) from surface216 as shown in FIG. 3 . In other words, the sensor 220 must be able todetect the foot presence when the foot 304 is positioned over contactingsurface 216, and prior to, contacting surface 216 (e.g., prior toactivation of assembly 200). Said another way, the sensor 220 detectsthe presence of foot 304 when it is positioned over surface 216, andabove a plane of surface 216 and sensor 220. In this aspect, distance(d) may be understood to be any distance greater than zero. In addition,foot 304 may be considered over or above surface 216 (and sensor 220) inthat it is positioned on a side of surface 216 opposite base portion204. Moreover, foot 304 is positioned over, or otherwise aligned with, asensing side, or face, of sensor 220. In some embodiments, sensor 220may be an optical sensor such as a proximity sensor having an emitterthat emits a beam of light (e.g., beam of electromagnetic or infraredradiation), and a detector that detects the beam reflected off thetarget object. The proximity sensor may be positioned with respect tosurface 216 such that it emits the beam electromagnetic radiation in adirection away (as illustrated by arrow 302) from surface 216. Forexample, the electromagnetic radiation may be emitted in a directionsubstantially normal, or otherwise perpendicular to, a plane of surface216. In other embodiments, sensor 220 may be positioned such that itemits radiation in any direction away from surface 216 so long as it isnot parallel to surface 216. In the case of a proximity sensor, thepresence or hovering of the foot 304 over surface 216 and/or sensor 220may be considered detected when the sensor detector detects the beam 302emitted by the emitter being reflected off of the foot 304, back tosensor 220. The absence of a reflected beam indicates there is no targetobject (e.g., foot 304) present. In addition, the sensor 220 can furtherbe used to detect, indicate, or otherwise determine, the distance (d) ofthe target object 304 over surface 216. For example, the distance (d)can be determined based on an intensity of the light beam reflected backto the sensor 220. This information can be used to indicate how closethe target object (e.g., foot 304) is to surface 216, and provide morespecific information regarding whether the user is about to press, orotherwise contact, surface 216. In this aspect, in addition to sensingthe presence of the foot 304 over surface 216 in general (e.g., theobject is/is not detected), the sensor 220 can provide specificinformation that can be used to determine the position or location ofthe target object along an x, y and z-axis (or plane), with respect tosurface 216. Although a proximity sensor is disclosed, in someembodiments, sensor 220 may be any type of sensor that can detect anobject without physical contact between the sensor 220 (or a surface towhich it is mounted) and the target object. For example, in someembodiments, sensor 220 may be a capacitive sensor that is capable ofdetecting an object within a distance (d) range of from about 30 mm to50 mm.

In addition, it should be further emphasized that because sensor 220 isbuilt directly into the foot pedal 202, the presence (or hovering) ofthe foot with respect to that particular pedal can be more preciselydetected than, for example, where a sensor is positioned near (but notattached to) the pedal, or multiple pedals. In particular, where thesensor is instead built into a structure that is near the pedal ormultiple pedals, the system may be more likely to detect false positives(a foot is sensed but is not actually on the pedal) or false negatives(the foot is not sensed but is actually on the pedal).

Referring now to FIG. 4 -FIG. 7 , FIG. 4 -FIG. 7 illustrate perspectiveviews of one embodiment of a sensor built into a foot pedal.Representatively, FIG. 4 illustrates a top perspective view of footpedal 202, and FIG. 5 illustrates the bottom perspective view of footpedal 202 shown in FIG. 4 . From these views, it can be seen that footpedal 202 may include a housing or cover 402 which includes surface 216(e.g., surface 216 may be a top surface of a top wall forming cover 402)and sidewalls 404. Sidewalls 404 surround surface 216 (e.g., the topwall forming surface 216), and extend perpendicular to surface 216, suchthat the combination of structures forms a relatively hollow chamber 502(see FIG. 5 ) along the bottom side of pedal 202. It should be notedthat the bottom side of pedal 202 having chamber 502 as shown in FIG. 5, would be the side facing the foot pedal base 204 as described in FIG.2 and FIG. 3 , and therefore cover, enclose or house any interiorcomponents of the assembly.

In some cases, cover 402 includes four sidewalls 404, and two of thesidewalls may be longer than two of the other sidewalls such that cover402 has a substantially rectangular shape. Sensor 220 may, in someembodiments, be closer to one of the shorter sidewalls (or ends of cover402), than the longer sidewalls. Other cover sizes and shapes are,however, contemplated (e.g., square, rectangular, elongated, elliptical,circular, semi-circular, or the like). In addition, although not shown,in some embodiments, portions of sidewalls 404 may be dimensioned (e.g.,curve downward or protrude) and the axle (axle 206 as previouslydiscussed in connection with FIG. 1 and FIG. 2 ) inserted throughopposing sidewalls (e.g., across cover 402 through opposite sidewalls).In addition, in some embodiments, a port 504 may be formed through oneof sidewalls 404 to accommodate circuitry running through cover 402.

Cover 402 may further include a channel or cavity 406 extending belowsurface 216 (e.g., into chamber 502). Cavity 406 may include interiorsidewalls 408 that are coupled to an opening 410 through surface 216,and therefore define a channel extending below surface 216. In somecases, cavity 406 may be open at both ends as shown. In other cases,however, the cavity 406 could have a closed bottom (e.g., be closed atan end opposite surface 216). Cavity 406 is dimensioned to receivesensor 220 as shown in FIG. 6 and FIG. 7 . In particular, FIG. 6 andFIG. 7 are perspective top and bottom views, respectively, showingsensor 220 positioned, connected, or mounted (e.g., screwed) withincavity 406. For example, sensor 220 could be screwed to one or more ofsidewalls 408 or directly to the top wall forming surface 216. Fromthese views it can be seen that when sensor 220 is mounted, or otherwisepositioned within cavity 406, the emitter 602 and detector 604 arearranged to detect the presence of an object positioned over, orhovering above, surface 216. In particular, emitter 602 is oriented suchthat it emits a beam of light in a direction away from surface 216, aspreviously discussed in reference to FIG. 3 . It should further beunderstood that in some embodiments, emitter 602 and detector 604 ofsensor 220 may be within a same plane as surface 216, or may actually bebelow surface 216 such that the beam output by emitter 602 first passesthrough a plane of surface 216 and then in a direction away from surface216. In addition, it can also be seen that any circuitry, such as wiring702 necessary to operate sensor 220 runs through cover 402 via port 504.For example, wiring 702 may run from sensor 220 to a processor 704associated with computer 116 (discussed in reference to FIG. 1 ).Processor 704 may, in turn, based on the information detected by sensor220 (e.g., presence of a target object), determine a position of thetarget object with respect to a single pedal assembly, another pedalassembly, a motion of the target object, a speed of the target object,or the like. For example, where it is known that sensor 220 is closer tothe proximal end 212 than distal end 214 of foot pedal 202, and thepresence of the target object is detected by sensor 220, processor 704may determine that the target object is closer to the proximal end thanthe distal end. The processor 704 may further determine based on thisinformation, or otherwise anticipate, that the user is about to activatefoot pedal 202 to activate the corresponding robotic operation.

In addition, it is contemplated that in still further embodiments, afoot pedal could have an array of sensors built therein so that aposition of the target object (e.g., the user's foot) with respect tothe foot pedal (or perhaps an adjacent foot pedal) can be more preciselydetermined. Representatively, FIG. 8 to FIG. 10 illustrate top planviews of representative foot pedals having different sensor arrays. Inparticular, FIG. 8 illustrates an embodiment of a foot pedal 800 havinga contact surface 216 extending between the proximal end 212 and thedistal end 214, as previously discussed. In this embodiment, however, anarray of three sensors 220A, 220B and 220C are located at differentpositions along contact surface 216. Representatively, sensor 220A ispositioned near the proximal end 212, sensor 220C is positioned near thedistal end 214 and sensor 220B is positioned between sensors 220A, 220C.The locations, or positions, of sensors 220A-220C along surface 216, andwith respect to one another is known. Therefore, when one or more of thesensors 220A-220C detects a target object, the position or location ofthe target object over foot pedal 800, can also be determined. Forexample, 220A, 220B and 220C may be arranged with respect to knownlateral positions (L1, L2 or L3) and known axial positions (A1, A2 orA3), which correspond to different regions or locations along surface216 (along the x and y axis, respectively). In this aspect, if thetarget object is detected by sensor 220A at position L1,A1, or within aregion defined by L₁,A₁ coordinates, it may be determined that thetarget object is near the proximal end 212 of surface 216. In addition,if the target object is simultaneously not detected by sensors 220B and220C, it may be determined that the target object is only near proximalend 212 (e.g., is only partially over pedal 800). In other words, theuser has just slid their foot over pedal 800 and may or may not intendto press pedal 800. On the other hand, if both of sensors 220A and 220B,or all three sensors 220A, 220B and 220C, detect the presence of atarget object, it may be determined that the target object is entirelyover pedal 800. In other words, the user's foot is completely oversurface 216 and it is likely that the user intends to press pedal 800.Moreover, sensor 220 may further detect the distance of the foot fromsurface 216, and in turn the foot position in the z-axis, to furtherdetermine whether the user is about to press pedal 800, or otherwisecontact surface 216, as previously discussed.

In addition to determining the position or location of the object (inthe x, y and/or z-axis) using the array of sensors, a motion and/orspeed of the object may further be determined. For example, in additionto the location of each of sensors 220A-220C being known, the distancebetween each of sensors 220A-220C is also known. Therefore, when thepresence of the target object is detected sequentially by sensors 220A,220B and/or 220C the direction that the target object and/or speed ofthe object movement across pedal 800 can also be determined. Forexample, if the target object is first detected by sensor 220A, followedby sensor 220B, and then sensor 220C, it can be determined that thetarget object is moving in an axial direction, toward distal end 214.

FIG. 9 and FIG. 10 illustrate further sensor arrays arranged on the footpedal. In particular, FIG. 9 illustrates an embodiment of a foot pedal900, similar to foot pedal 800, except that in addition to sensors220A-220C arranged as previously discussed, foot pedal 900 includesadditional sensors 220D and 220E. Sensors 220D and 220E are at a sameaxial position, A2, as sensor 220B, however, occupy lateral positions L1and L3, respectively, along surface 216. In this aspect, additionalinformation relating to the position, movement and/or speed of thetarget object can be determined. For example, the detection of thetarget object by sensor 220D or sensor 220E, or sequentially by sensor220D then 220E, may be used to determine that the target object is nearone side or the other of the pedal 800, or moving laterally toward oneside or the other of the pedal 800. Similarly, FIG. 10 illustrates afoot pedal 1000 in which in addition to the previously discussedarrangement of sensors 220A-220E, sensors 220F, 220G, 220H and 220I areincluded. Sensors 220F-220I may occupy the remaining lateral and axialregions or positions (e.g., L1,A1; L1,A3; L3,A1; and L3,A3) such thatadditional position, motion and speed information of the target objectmay be determined as previously discussed.

FIG. 11 illustrates one embodiment of a process flow 1100 fordetermining an object position, as previously discussed.Representatively, as previously discussed, the presence of the targetobject over a foot pedal assembly (or foot pedal) is detected by asensor (block 1102). The foot pedal may include a single sensor aspreviously discussed in reference to FIG. 1 -FIG. 7 , or could includean array of sensors as discussed in reference to FIG. 8 -FIG. 10 . Aposition of the target object with respect to the foot pedal assemblycan then be determined based on the detection of the object presence bythe sensor (block 1104). In addition, as previously discussed, dependingon the number of sensors and their arrangement, a motion and/or speed ofthe target object may further be determined.

It should further be understood that in some embodiments, one or more ofthe previously discussed foot pedal assemblies or foot pedals may bearranged in an array with respect to one another, and the position,motion and/or speed of the target object may be determined with respectto the assembles in the array. Representatively, FIG. 12 illustrates aperspective view of one embodiment of foot pedal assembly or systemhaving an array of pedal assemblies. In particular, the assembly 1200may include an array of pedal assemblies 200A, 200B, 200C, 200D, 200E,200F and 200G. Although not specifically labeled in FIG. 12 , each ofpedal assemblies 200A-200G may be substantially the same as pedalassembly 200 and therefore include a foot pedal base, a foot pedal andone or more sensors built into the foot pedal, as previously discussed.It should further be understood that while each of assemblies 200A-200Gare shown including a sensor, in some embodiments, only some ofassemblies 200A-200G may include a sensor (e.g., only assemblies200A-200D include a sensor). Each of pedal assemblies 200A-200G may beused to operate, actuate, activate, or otherwise control, a differentfunction, robotic operation and/or device of the surgical system usingthe foot. For example, pedal assemblies 200A and 200C may be used tocontrol devices such as surgical instruments (e.g., a scalpel), whilepedal assemblies 200B and 200D may be used to control more specializedsurgical devices such as surgical energy devices (e.g., a stapler, alaser or the like). In addition, pedal assemblies 200E-200G may controlother more general functions and/or operations of the system. Forexample, pedal assembly 200F may control a camera, pedal assembly 200Gmay be a clutch and pedal assembly 200E may be used to change surgicaldevices.

Each of pedal assemblies 200A-200G may be arranged on, or otherwisemounted to, a foot pedal assembly platform 1202. Platform 1202 mayinclude a lower portion 1204 and an upper portion 1206. The lowerportion 1204 is considered to be “lower” because it is in a plane belowthe upper portion 1206. In some embodiments, the pedal assembliescontrolling the more specialized devices such as energy devices (e.g.,assemblies 200B and 200D) are arranged on the upper portion 1206 andthose that control non-energy devices such as scalpels (e.g., assemblies200A and 200C) are positioned on the lower portion 1204. In addition,the assemblies may be understood as being within a right hand side or aleft hand side of the platform 1202, and may correspond to right or lefthand operations of surgical tool 107, as previously discussed. Forexample, assemblies 200E-200G may be considered on the left hand side,while assemblies 200A-200D may be considered on the right hand side ofplatform 1202. In addition, within the assemblies on the right handside, those on the left side (e.g., 200C-200D) may control left handoperations while those on the right side (e.g., 200A-200B) may controlright hand operations.

In a similar manner to the previously discussed sensor arrays, the arrayof pedal assemblies 200A-200G may further be used to determine aposition, motion and/or speed of a target object with respect to aparticular pedal assembly 200A-200G. In addition, the detection of atarget object with respect to one of the assemblies 200A-200G may beused to anticipate, or otherwise control, an activation of an adjacentpedal assembly or prevent activation of an adjacent pedal assembly.Representatively, as illustrated by the schematic diagram in FIG. 13 , adistance (d₁, d₂, d₃, d₄) between each of the sensors 220 of the pedalassemblies 200A-200D is known, as are the locations of the sensors andassociated pedals with respect to one another. Accordingly, the presenceof a target object (e.g., a users foot) by sensor 220 of one of thepedal assemblies 200A-200D (e.g., pedal assembly 200A), but not another,can be used to determine that the object is only over that particularpedal assembly (e.g., pedal assembly 200A). In addition, the sequentialdetection of the target object presence over one of the pedal assemblies200A-200D, and then another of the pedal assemblies 200A-200D, can beused to determine that the object is moving from one pedal assembly toanother. For example, the detection of the target object by pedalassembly 200A, followed by pedal assembly 200B, can be used to determinethe object is moving in an axial (or front/back direction), asillustrated by arrow 1304. In addition, the detection of the targetobject by pedal assembly 200A, followed by pedal assembly 200D can beused to determine the object is moving in a lateral or left/rightdirection, as illustrated by arrow 1302. The speed of the object motionbetween the pedal assemblies 200A-200D can also be determined usingsimilar information. This motion and speed knowledge can be particularlyuseful in providing the surgeon with critical information about resultsof any action they are about to take and assist in training users tooptimize system use, as previously discussed.

One exemplary process flow for determining the object motion isillustrated in FIG. 14 . Representatively, process 1400 includesdetecting the presence of the target object over one foot pedal assembly(block 1402), followed by detecting the target object over another footpedal assembly (block 1404). The information detected with respect toeach foot pedal assembly can then be used to alert a user that inaddition to activating one pedal, their foot may be hovering overanother pedal (block 1406). In addition, as previously discussed, someof the foot pedal assemblies activate energy or advanced functionalitysurgical devices and/or instruments. The unintentional activation ofthese devices may be very harmful. It is therefore critical that theuser is aware of which pedal they are about to press before activationof the pedal, and that they not accidentally activate a pedal,particularly while another pedal is already activated. Therefore, insome embodiments, the process may further include preventing activationof a foot pedal assembly (block 1408). For example, information obtainedby a sensor associated with one pedal assembly may be used to preventactivation of another pedal assembly, particularly while the one pedalassembly is active.

Representatively, if pedal assembly 200A is currently active andcontrolling a robotic operation, and the presence of the target objectis detected over pedal assembly 200B by the corresponding sensor 220,this suggests that the object is unintentionally being position overassembly 200B. For example, the user may be activating assembly 200Awith their heal, and their toe may be accidentally positioned over aportion of assembly 200B. To prevent the unintentional activation ofassembly 200B by the user, the system may alert the user of the presenceof their toe over assembly 200B so that the user can adjust their footposition. For example, the alert may be a visual alert (e.g., on display115), an audio alert (e.g., output by system 103), a tactile alert(e.g., at console 102), or any other type of alert sufficient to notifythe detection of a potentially unintentional hover detection. Inaddition, in some embodiments, the system may automatically de-active orprevent activation of assembly 200B until assembly 200A is no longeractive.

In addition, a pedal prioritization algorithm can be used to alert auser of an unintended operation or automatically prevent activation ofone pedal with respect to another. For example, in some cases, when auser places their foot on an upper pedal (e.g., pedal assemblies 200B,200D), the pedal sensor of a lower pedal assembly (e.g., pedalassemblies 200A, 200C) in addition to the upper pedal sensor will betriggered. A prioritization is therefore implemented so that if both theupper and lower pedal sensors detect an object on either the left orright side, the user is alerted of the upper pedal hover. In this case,the user may only be alerted to the upper pedal hover because the upperpedal controls energy functions, which if unintentionally activated, mayresult in more harm than the lower pedal function. In addition, in someembodiments, the system may automatically prevent or otherwisedeactivate the lower pedal function under this scenario.

While certain embodiments have been described and shown in theaccompanying drawings, it is to be understood that such embodiments aremerely illustrative of and not restrictive on the broad invention, andthat the invention is not limited to the specific constructions andarrangements shown and described, since various other modifications mayoccur to those of ordinary skill in the art. For example, while theFigures illustrate pedal assemblies for surgical operations, alternativeapplications may include any application in which it would be beneficialfor a user of a system with multiple pedal-actuated functions to bealerted of which pedal their foot is on or over. Examples includemedical devices, aviation, aerospace equipment, aviation equipment orthe like. The description is thus to be regarded as illustrative insteadof limiting.

What is claimed is:
 1. A foot pedal assembly for controlling a roboticsurgical system, the foot pedal assembly comprising: a foot pedal base;a foot pedal movably coupled to the foot pedal base, the foot pedalhaving a cover defining a first end and a second end of the foot pedal,and wherein the cover is positioned such that the first end is fartheraway from a heel of a user's foot during use than the second end; and asensor coupled to the cover at a position between the second end and apoint midway between the second end and the first end.
 2. The foot pedalassembly of claim 1 wherein the foot pedal pivots around an axle coupledto the foot pedal base, wherein the axle is positioned closer to thefirst end than the second end.
 3. The foot pedal assembly of claim 1wherein a contact surface of the cover remains parallel to the footpedal base when the foot pedal moves relative to the foot pedal base. 4.The foot pedal assembly of claim 1 wherein the cover comprises a cavitywithin which the sensor is positioned, wherein the cavity is defined bysidewalls coupled to an opening in the cover.
 5. The foot pedal assemblyof claim 1 wherein the sensor is a capacitive sensor or a proximitysensor.
 6. The foot pedal assembly of claim 1 wherein the sensor is oneof an array of sensors coupled to the cover.
 7. The foot pedal assemblyof claim 1 wherein the foot pedal assembly is one of an array of footpedal assemblies operable to control different surgical roboticoperations.
 8. The foot pedal assembly of claim 7 further comprising: afoot pedal assembly platform having an upper platform and a lowerplatform to which the array of foot pedal assemblies are mounted, andwherein a larger number of the foot pedal assemblies in the array offoot pedal assemblies are mounted to the upper platform than the lowerplatform of the foot pedal assembly platform.
 9. A foot pedal system forcontrolling a robotic surgical system, the foot pedal system comprising:a foot pedal assembly platform; a first foot pedal assembly and a secondfoot pedal assembly coupled to the foot pedal assembly platform, each ofthe first foot pedal assembly and the second foot pedal assembly havinga foot pedal movably coupled to a foot pedal base and a sensorpositioned within a cavity of the foot pedal, and wherein the sensor isoperable to detect a presence of a target object prior to activation ofthe first foot pedal assembly or the second foot pedal assembly by thetarget object; and a processor configured to determine a position of thetarget object with respect to the first foot pedal assembly or thesecond foot pedal assembly based on the presence detected by the sensorcoupled to the first foot pedal assembly or the second foot pedalassembly.
 10. The foot pedal system of claim 9 wherein the sensor ispositioned closer to a proximal end of the foot pedal than a distal endof the foot pedal, and wherein the processor is further configured todetermine whether the target object is positioned closer to the proximalend of the foot pedal than the distal end of the foot pedal based on thepresence detected by the sensor.
 11. The foot pedal system of claim 9wherein the sensor is one of an array of sensors coupled to differentregions of a contact surface of a respective foot pedal, and theprocessor is further configured to determine the target object positioncorresponds to one of the different regions.
 12. The foot pedal systemof claim 9 wherein the processor is further configured to determine thetarget object is over a contact surface of the first foot pedal assemblyprior to the target object contacting the contact surface of the firstfoot pedal assembly based on the presence of the target object beingdetected by the sensor of the first foot pedal assembly.
 13. The footpedal system of claim 9 wherein the processor is configured to determinethe position of the target object with respect to the first foot pedalassembly based on the presence of the target object being detected bythe sensor of the second foot pedal assembly.
 14. The foot pedal systemof claim 9 wherein the processor is further configured to determine alateral motion of the target object when the presence of the targetobject is detected by the sensors in sequence.
 15. The foot pedal systemof claim 9 wherein the processor is further configured to alert a userthat the presence of the target object is detected over one of the firstfoot pedal assembly or the second foot pedal assembly when the other ofthe first foot pedal assembly or the second foot pedal assembly isactively controlling a robotic operation.
 16. The foot pedal system ofclaim 9 wherein the processor is further configured to preventactivation of the first foot pedal assembly when the presence of thetarget object is detected over the first foot pedal assembly while thesecond foot pedal assembly is actively controlling a robotic operation.17. The foot pedal system of claim 9 wherein the first foot pedalassembly is operable to control a first surgical robotic operation andthe second foot pedal assembly is operable to control a second surgicalrobotic operation that is different than the first surgical roboticoperation.
 18. The foot pedal system of claim 17 wherein the firstsurgical robotic operation comprises an energy device and the secondsurgical robotic operation comprises a non-energy instrument.
 19. A footpedal assembly for controlling a robotic surgical system, the foot pedalassembly comprising: a foot pedal base; a foot pedal movably coupled tothe foot pedal base, the foot pedal having a cover defining a first endand a second end of the foot pedal, and wherein the cover is positionedsuch that the first end is farther away from a heel of a user's footduring use than the second end; and a sensor coupled to the cover at aposition closer to the second end than the first end, and wherein thefoot pedal assembly is one of an array of foot pedal assemblies operableto control different surgical robotic operations.
 20. The foot pedalassembly of claim 19 wherein the sensor is a proximity sensor or acapacitive sensor.